def _init_cans():
can1 = CAN(1, CAN.NORMAL, prescaler=2, sjw=1, bs1=14, bs2=6)
can2 = CAN(2, CAN.NORMAL, prescaler=2, sjw=1, bs1=14, bs2=6)
can1.setfilter(0, CAN.LIST16, 0, (11, 12, 13, 14))
can1.setfilter(1, CAN.LIST16, 1, (21, 22, 23, 24))
can1.rxcallback(0, cb10)
# can1.rxcallback(1, cb11)
# can2.rxcallback(0, cb2)
# can2.rxcallback(1, cb2)
return can1, can2
if reason == 1:
print('full')
if reason == 2:
print('overflow')
def cb1a(bus, reason):
print('cb1a')
if reason == 0:
print('pending')
if reason == 1:
print('full')
if reason == 2:
print('overflow')
can.rxcallback(0, cb0)
can.rxcallback(1, cb1)
can.send('11111111',1, timeout=5000)
can.send('22222222',2, timeout=5000)
can.send('33333333',3, timeout=5000)
can.rxcallback(0, cb0a)
can.send('44444444',4, timeout=5000)
can.send('55555555',5, timeout=5000)
can.send('66666666',6, timeout=5000)
can.send('77777777',7, timeout=5000)
can.rxcallback(1, cb1a)
can.send('88888888',8, timeout=5000)
print(can.recv(0))
from time import sleep_ms
import struct
k = 0
def cb0(bus, reason):
'''
print('cb0')
if reason == 0:
print('pending')
if reason == 1:
print('full')
if reason == 2:
print('overflow')
'''
global k
k = 1
CAN(1).deinit()
can = CAN(1)
can.init(mode=CAN.NORMAL, extframe=False, prescaler=3, sjw=1, bs1=9, bs2=4)
# Baudrate is pyb.freq() / (sjw + bs1 + bs2) / prescaler = 1Mbps
can.setfilter(bank=0, mode=CAN.MASK16, fifo=0, params=(0, 0, 0, 0))
can.rxcallback(0, cb0)
while True:
if k == 1:
print(struct.unpack('<L', can.recv(0)[3])[0])
k = 0
from pyb import CAN
buf = bytearray(8)
data_lst = [0, 0, 0, memoryview(buf)]
def can_cb1(bus, reason, fifo_num):
if reason == CAN.CB_REASON_RX:
bus.recv(fifo=fifo_num, list=data_lst)
print(data_lst)
if reason == CAN.CB_REASON_ERROR_WARNING:
print('Error Warning')
if reason == CAN.CB_REASON_ERROR_PASSIVE:
print('Error Passive')
if reason == CB_REASON_ERROR_BUS_OFF:
print('Bus off')
can0 = CAN(0, mode=CAN.NORMAL, extframe=True, baudrate=500000)
can1 = CAN(1, mode=CAN.NORMAL, extframe=True, baudrate=500000)
can1.setfilter(id=0x55, fifo=10, mask=0xf0)
can0.send(data='mess 1!', id=0x50)
can1.recv(fifo=10)
can1.rxcallback(can_cb1)
can0.send(data='mess 2!', id=0x50)
print("full")
if reason == 2:
print("overflow")
def cb1a(bus, reason):
print("cb1a")
if reason == 0:
print("pending")
if reason == 1:
print("full")
if reason == 2:
print("overflow")
can.rxcallback(0, cb0)
can.rxcallback(1, cb1)
can.send("11111111", 1, timeout=5000)
can.send("22222222", 2, timeout=5000)
can.send("33333333", 3, timeout=5000)
can.rxcallback(0, cb0a)
can.send("44444444", 4, timeout=5000)
can.send("55555555", 5, timeout=5000)
can.send("66666666", 6, timeout=5000)
can.send("77777777", 7, timeout=5000)
can.rxcallback(1, cb1a)
can.send("88888888", 8, timeout=5000)
print(can.recv(0))
class can_tmcl_interface(tmcl_module_interface, tmcl_host_interface):
def __init__(self,
port=1,
data_rate=None,
host_id=2,
module_id=1,
debug=False,
can_mode=CanModeNormal()):
del data_rate
tmcl_module_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__silent = Pin(Pin.cpu.B10, Pin.OUT_PP)
self.__mode = can_mode
self.__flag_recv = False
self.__can = None
CAN.initfilterbanks(14)
# PCLK1 = 42 MHz, Module_Bitrate = 1000 kBit/s
# With prescaler = 3, bs1 = 11, bs2 = 2
# Sample point at 85.7 %, accuracy = 100 %
if (isinstance(self.__mode, CanModeNormal)):
self.__silent.low()
self.__can = CAN(port, CAN.NORMAL)
self.__can.init(CAN.NORMAL,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, module_id, module_id))
elif (isinstance(self.__mode, CanModeSilent)):
self.__silent.high()
self.__can = CAN(port, CAN.SILENT)
self.__can.init(CAN.SILENT,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, module_id, module_id))
elif (isinstance(self.__mode, CanModeOff)):
raise ValueError() # Not supported by TJA1051T/3
self.__can.rxcallback(0, self.__callback_recv)
def __enter__(self):
return self
def __exit__(self, exitType, value, traceback):
del exitType, value, traceback
self.close()
def close(self):
pass
def data_available(self, hostID=None, moduleID=None):
del hostID, moduleID
return self.__can.any(0)
def _send(self, hostID, moduleID, data):
del hostID, moduleID
self.__can.send(data[1:], data[0])
def __callback_recv(self, bus, reason):
if (reason != 0):
pass
self.__flag_recv = True
def _recv(self, hostID, moduleID):
del hostID, moduleID
while (not (self.__flag_recv)):
pass
self.__flag_recv = False
received = self.__can.recv(0, timeout=1000)
read = struct.pack("B", received[0]) + received[3]
return read
def printInfo(self):
pass
def enableDebug(self, enable):
self._debug = enable
def get_mode(self):
return self.__mode
def get_can(self):
return self.__can
@staticmethod
def supportsTMCL():
return True
@staticmethod
def supportsCANopen():
return False
@staticmethod
def available_ports():
return set([2])
import pyb
from pyb import CAN
buf = bytearray(8)
data_lst = [0, 0, 0, memoryview(buf)]
can_write = 0
def can_cb(bus, reason, fifo_num):
if reason == CAN.CB_REASON_RX:
bus.recv(fifo=fifo_num, list=data_lst)
can_write = 1
print(buf)
if reason == CAN.CB_REASON_ERROR_WARNING:
print('Error Warning')
if reason == CAN.CB_REASON_ERROR_PASSIVE:
print('Error Passive')
if reason == CAN.CB_REASON_ERROR_BUS_OFF:
print('Bus off')
can0 = CAN(0, mode=CAN.NORMAL, extframe=True, baudrate=500000)
can0.setfilter(id=0x12345, fifo=10, mask=0xFFFF0)
can0.rxcallback(can_cb)
while True:
pyb.delay(500)
if can_write == 1:
can0.send(data='ABC', id=0x567)
can_write = 0
def my_handler_mainloop(reason):
(id, isRTR, filterMatchIndex, telegram) = can.recv(0)
print("received:", telegram)
if telegram == b'on':
ledBlue.on()
else:
ledBlue.off()
def my_canbus_interrupt(bus, reason):
# Don't handle code in the interrupt service routine.
# Schedule a task to be handled soon
if reason == 0:
# print('pending')
micropython.schedule(my_handler_mainloop, reason)
return
if reason == 1:
print('full')
return
if reason == 2:
print('overflow')
return
print('unknown')
can.rxcallback(0, my_canbus_interrupt)
print("Now listening on these CAN-id's: ", IDs)
